CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors. More...
#include <pcl/registration/correspondence_rejection_features.h>
Classes | |
| class | FeatureContainer |
| An inner class containing pointers to the source and target feature clouds and the parameters needed to perform the correspondence search. More... | |
| class | FeatureContainerInterface |
Public Types | |
| typedef boost::shared_ptr < CorrespondenceRejectorFeatures > | Ptr |
| typedef boost::shared_ptr < const CorrespondenceRejectorFeatures > | ConstPtr |
Public Member Functions | |
| CorrespondenceRejectorFeatures () | |
| Empty constructor. | |
| virtual | ~CorrespondenceRejectorFeatures () |
| Empty destructor. | |
| void | getRemainingCorrespondences (const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) |
| Get a list of valid correspondences after rejection from the original set of correspondences. | |
| template<typename FeatureT > | |
| void | setSourceFeature (const typename pcl::PointCloud< FeatureT >::ConstPtr &source_feature, const std::string &key) |
| Provide a pointer to a cloud of feature descriptors associated with the source point cloud. | |
| template<typename FeatureT > | |
| pcl::PointCloud< FeatureT > ::ConstPtr | getSourceFeature (const std::string &key) |
| Get a pointer to the source cloud's feature descriptors, specified by the given key. | |
| template<typename FeatureT > | |
| void | setTargetFeature (const typename pcl::PointCloud< FeatureT >::ConstPtr &target_feature, const std::string &key) |
| Provide a pointer to a cloud of feature descriptors associated with the target point cloud. | |
| template<typename FeatureT > | |
| pcl::PointCloud< FeatureT > ::ConstPtr | getTargetFeature (const std::string &key) |
| Get a pointer to the source cloud's feature descriptors, specified by the given key. | |
| template<typename FeatureT > | |
| void | setDistanceThreshold (double thresh, const std::string &key) |
| Set a hard distance threshold in the feature FeatureT space, between source and target features. | |
| bool | hasValidFeatures () |
| Test that all features are valid (i.e., does each key have a valid source cloud, target cloud, and search method). | |
| template<typename FeatureT > | |
| void | setFeatureRepresentation (const typename pcl::PointRepresentation< FeatureT >::ConstPtr &fr, const std::string &key) |
| Provide a boost shared pointer to a PointRepresentation to be used when comparing features. | |
Protected Types | |
| typedef boost::unordered_map < std::string, boost::shared_ptr < FeatureContainerInterface > > | FeaturesMap |
Protected Member Functions | |
| void | applyRejection (pcl::Correspondences &correspondences) |
| Apply the rejection algorithm. | |
Protected Attributes | |
| float | max_distance_ |
| The maximum distance threshold between two correspondent points in source <-> target. | |
| FeaturesMap | features_map_ |
| An STL map containing features to use when performing the correspondence search. | |
CorrespondenceRejectorFeatures implements a correspondence rejection method based on a set of feature descriptors.
Given an input feature space, the method checks if each feature in the source cloud has a correspondence in the target cloud, either by checking the first K (given) point correspondences, or by defining a tolerance threshold via a radius in feature space.
Definition at line 60 of file correspondence_rejection_features.h.
| typedef boost::shared_ptr<const CorrespondenceRejectorFeatures> pcl::registration::CorrespondenceRejectorFeatures::ConstPtr |
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 68 of file correspondence_rejection_features.h.
typedef boost::unordered_map<std::string, boost::shared_ptr<FeatureContainerInterface> > pcl::registration::CorrespondenceRejectorFeatures::FeaturesMap [protected] |
Definition at line 164 of file correspondence_rejection_features.h.
| typedef boost::shared_ptr<CorrespondenceRejectorFeatures> pcl::registration::CorrespondenceRejectorFeatures::Ptr |
Reimplemented from pcl::registration::CorrespondenceRejector.
Definition at line 67 of file correspondence_rejection_features.h.
| pcl::registration::CorrespondenceRejectorFeatures::CorrespondenceRejectorFeatures | ( | ) | [inline] |
Empty constructor.
Definition at line 71 of file correspondence_rejection_features.h.
| virtual pcl::registration::CorrespondenceRejectorFeatures::~CorrespondenceRejectorFeatures | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 77 of file correspondence_rejection_features.h.
| void pcl::registration::CorrespondenceRejectorFeatures::applyRejection | ( | pcl::Correspondences & | correspondences | ) | [inline, protected, virtual] |
Apply the rejection algorithm.
| [out] | correspondences | the set of resultant correspondences. |
Implements pcl::registration::CorrespondenceRejector.
Definition at line 144 of file correspondence_rejection_features.h.
| void pcl::registration::CorrespondenceRejectorFeatures::getRemainingCorrespondences | ( | const pcl::Correspondences & | original_correspondences, | |
| pcl::Correspondences & | remaining_correspondences | |||
| ) | [virtual] |
Get a list of valid correspondences after rejection from the original set of correspondences.
| [in] | original_correspondences | the set of initial correspondences given |
| [out] | remaining_correspondences | the resultant filtered set of remaining correspondences |
Implements pcl::registration::CorrespondenceRejector.
| pcl::PointCloud< FeatureT >::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature | ( | const std::string & | key | ) | [inline] |
Get a pointer to the source cloud's feature descriptors, specified by the given key.
| [in] | key | a string that uniquely identifies the feature (must match the key provided by setSourceFeature) |
Definition at line 55 of file correspondence_rejection_features.hpp.
References features_map_.
| pcl::PointCloud< FeatureT >::ConstPtr pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature | ( | const std::string & | key | ) | [inline] |
Get a pointer to the source cloud's feature descriptors, specified by the given key.
| [in] | key | a string that uniquely identifies the feature (must match the key provided by setTargetFeature) |
Definition at line 75 of file correspondence_rejection_features.hpp.
References features_map_.
| bool pcl::registration::CorrespondenceRejectorFeatures::hasValidFeatures | ( | ) | [inline] |
| void pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold | ( | double | thresh, | |
| const std::string & | key | |||
| ) | [inline] |
Set a hard distance threshold in the feature FeatureT space, between source and target features.
Any feature correspondence that is above this threshold will be considered bad and will be filtered out.
| [in] | thresh | the distance threshold |
| [in] | key | a string that uniquely identifies the feature |
Definition at line 85 of file correspondence_rejection_features.hpp.
References features_map_.
| void pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation | ( | const typename pcl::PointRepresentation< FeatureT >::ConstPtr & | fr, | |
| const std::string & | key | |||
| ) | [inline] |
Provide a boost shared pointer to a PointRepresentation to be used when comparing features.
| [in] | key | a string that uniquely identifies the feature |
| [in] | fr | the point feature representation to be used |
Definition at line 97 of file correspondence_rejection_features.hpp.
References features_map_.
| void pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature | ( | const typename pcl::PointCloud< FeatureT >::ConstPtr & | source_feature, | |
| const std::string & | key | |||
| ) | [inline] |
Provide a pointer to a cloud of feature descriptors associated with the source point cloud.
| [in] | source_feature | a cloud of feature descriptors associated with the source point cloud |
| [in] | key | a string that uniquely identifies the feature |
Definition at line 45 of file correspondence_rejection_features.hpp.
References features_map_.
| void pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature | ( | const typename pcl::PointCloud< FeatureT >::ConstPtr & | target_feature, | |
| const std::string & | key | |||
| ) | [inline] |
Provide a pointer to a cloud of feature descriptors associated with the target point cloud.
| [in] | target_feature | a cloud of feature descriptors associated with the target point cloud |
| [in] | key | a string that uniquely identifies the feature |
Definition at line 65 of file correspondence_rejection_features.hpp.
References features_map_.
An STL map containing features to use when performing the correspondence search.
Definition at line 167 of file correspondence_rejection_features.h.
Referenced by getSourceFeature(), getTargetFeature(), setDistanceThreshold(), setFeatureRepresentation(), setSourceFeature(), and setTargetFeature().
float pcl::registration::CorrespondenceRejectorFeatures::max_distance_ [protected] |
The maximum distance threshold between two correspondent points in source <-> target.
If the distance is larger than this threshold, the points will not be ignored in the alignment process.
Definition at line 152 of file correspondence_rejection_features.h.
